U.S. patent application number 14/879612 was filed with the patent office on 2016-02-04 for surgical component navigation systems and methods.
The applicant listed for this patent is Manhattan Technologies, LLC. Invention is credited to Joshua Campbell, Andrew Cheung.
Application Number | 20160030132 14/879612 |
Document ID | / |
Family ID | 47293757 |
Filed Date | 2016-02-04 |
United States Patent
Application |
20160030132 |
Kind Code |
A1 |
Cheung; Andrew ; et
al. |
February 4, 2016 |
SURGICAL COMPONENT NAVIGATION SYSTEMS AND METHODS
Abstract
A navigation and monitoring system to track positions of
surgical components during surgery of a patient. Some embodiments
include a power source to emit a tracking signal during surgery of
the patient, a first sensor mounted to a region of the patient to
respond to the emitted tracking signal, and a control unit to track
a position of the region relative to a fixed region of the patient
as the region moves with respect to the fixed region, based on the
response of the first sensor. The system can calibrate and register
a movable reference point of the patient relative to a fixed
reference point, and can maintain that reference point when the
movable reference point moves in space during a surgical
process.
Inventors: |
Cheung; Andrew; (Knoxville,
TN) ; Campbell; Joshua; (Knoxville, TN) |
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Applicant: |
Name |
City |
State |
Country |
Type |
Manhattan Technologies, LLC |
Oak Ridge |
TN |
US |
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Family ID: |
47293757 |
Appl. No.: |
14/879612 |
Filed: |
October 9, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13214783 |
Aug 22, 2011 |
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14879612 |
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12860635 |
Aug 20, 2010 |
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13214783 |
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Current U.S.
Class: |
602/42 ; 342/450;
356/614; 356/623; 606/130 |
Current CPC
Class: |
A61B 2034/2051 20160201;
A61B 34/20 20160201; G02B 27/017 20130101; A61C 1/084 20130101;
G01S 5/0294 20130101; A61F 2013/0017 20130101; G01S 17/06 20130101;
A61C 1/082 20130101; A61F 13/00068 20130101; A61B 2034/2055
20160201 |
International
Class: |
A61B 19/00 20060101
A61B019/00; A61F 13/00 20060101 A61F013/00; G02B 27/01 20060101
G02B027/01; G01S 5/02 20060101 G01S005/02; G01S 17/06 20060101
G01S017/06 |
Claims
1. A navigation system to track positions of surgical components,
comprising: a power source to emit a tracking signal during an
operation of a patient; a first sensor configured to be mounted to
a movable region of the patient to respond to the emitted tracking
signal; a control unit to track a position of the movable region
relative to a fixed region of the patient as the movable region
moves with respect to the fixed region, independent of a shape
dimension associated with the first sensor, based on the response
of the first sensor; and a display monitor configured to display a
real time position of the movable region and the fixed region.
2. The navigation system of claim 1, further comprising: a second
sensor mounted to a surgical component to respond to the emitted
tracking signal such that the control unit tracks a position of the
surgical component relative to the movable region as the surgical
component and movable region move with respect to the fixed region,
based on the responses of the first and second sensors.
3. The navigation system of claim 2, wherein the first and second
sensors each comprise at least three receptors to interact with the
emitted tracking signal, and the control unit tracks the position
of the surgical component relative to the movable region using a
triangulation calculation based on the interaction of the at least
three receptors.
4. The navigation system of claim 2, further comprising: a
detection unit to detect the responses of the first and second
sensors such that the control unit tracks the movement of the
movable region and the surgical component based on the detected
responses.
5. The navigation system of claim 4, wherein the first and second
sensors each comprise at least three reflectors to reflect the
emitted tracking signal, and the control unit tracks the position
of the surgical component relative to the movable region using a
triangulation calculation based on the reflected signals of the at
least three reflectors.
6. The navigation system of claim 2, wherein the first sensor
comprises an emitting unit to emit a second tracking signal to the
second sensor, and the second sensor comprises a receptor unit to
respond to the second tracking signal such that the control unit
tracks the movement of the surgical component relative to the
movable region based on the response of the receptor unit to the
second tracking signal.
7. The navigation system of claim 1, wherein the first sensor
comprises at least three RFID, Bluetooth, LED, or WiFi receptors to
interact with the emitted tracking signal, and the control unit
tracks the position of the movable region using a triangulation
calculation based on the interaction of the at least three
receptors.
8. The navigation system of claim 1, further comprising: a surgical
aid component fixedly mounted to the movable region, wherein the
first sensor is coupled to an outer surface of the surgical aid
component and is oriented to maintain a visible line of sight with
the emitted tracking signal.
9. A navigation system to track positions of surgical components
during surgery of a patient, comprising: a detection unit to detect
an optical signal; a first sensor configured to be mounted to a
movable region of the patient to emit a first optical signal to be
detected by the detection unit; a control unit to track a position
of the movable region relative to a fixed region of the patient as
the movable region moves with respect to the fixed region,
independent of a shape dimension associated with the first sensor,
based on the detected first optical signal; and a display monitor
configured to display a real time position of the movable region
and the fixed region.
10. The navigation system of claim 9, further comprising: a second
sensor mounted to a surgical component to emit a second optical
signal to be detected by the detection unit such that the control
unit tracks a position of the surgical component relative to the
movable region as the surgical component and movable region move
with respect to the fixed region, based on the detected first and
second optical signals.
11. The navigation system of claim 10, wherein the first and second
sensors each comprise at least three optical emitters to
respectively emit first, second, and third light signals to be
detected by the detection unit, such that the control unit tracks
the position of the surgical component relative to the movable
region using a triangulation calculation based on the detected
first, second, and third light signals.
12. The navigation system of claim 10, wherein the first sensor
comprises an emitting unit to emit a tracking signal to the second
sensor, and the second sensor comprises a receptor unit to respond
to the tracking signal such that the control unit tracks the
movement of the surgical component relative to the movable region
based on the response of the receptor unit to the tracking
signal.
13. The navigation system of claim 9, further comprising: a
surgical component fixedly mounted to the movable region, wherein
the first sensor is coupled to an outer surface of the surgical
component to maintain a visible line of sight with the light
detector as the movable region is moved during the surgery.
14. A method of tracking positions of surgical components during a
surgical process of a patient, comprising: emitting tracking
signals to a targeted region of the surgical process; coupling a
first sensor to a movable region of the patient such that the first
sensor responds to the emitted tracking signals; tracking a
position of the movable region relative to a fixed region of the
patient as the movable region moves with respect to the fixed
region, independent of a shape dimension associated with the first
sensor, based on the response of the first sensor and displaying a
real time image of the positions of the fixed region, surgical
instrument, and movable region.
15. The method of claim 14, wherein a location of the fixed region
is based on a scanned image of the patient.
16. The method of claim 14, further comprising: coupling a second
sensor to a surgical component to be used in the surgery such that
the second sensor responds to the emitted signal; tracking a
position of the surgical component relative to the movable region
as the surgical component and movable region move with respect to
the fixed region, based on the responses of the first and second
sensors; and displaying an image of the relative positions of the
surgical component and movable region.
17. The method of claim 16, wherein the displaying an image is
performed by a set of navigation goggles to be worn by a
surgeon.
18. The method of claim 16, wherein the first sensor comprises an
emitting unit to emit a second tracking signal to the second
sensor, and the second sensor comprises a receptor unit to respond
to the second tracking signal such that the control unit tracks the
movement of the surgical component relative to the movable region
based on the response of the receptor unit to the second tracking
signal.
19. The method of claim 14, wherein the coupling of the first
sensor to the movable region of the patient comprises: fixedly
mounting a surgical aid component to the movable region; and
coupling the first sensor to the surgical aid component.
20. The method of claim 19, wherein the first sensor is coupled to
an outer surface of the surgical aid component and is oriented to
maintain a visible line of sight with the emitted signals as the
movable region moves with respect to the fixed region during the
surgical process.
21. The method of claim 16, wherein the first sensor comprises at
least three RFID, Bluetooth, LED, or WiFi receptors to interact
with the emitted tracking signals, and the control unit tracks the
position of the movable region using a triangulation calculation
based on the interaction of the at least three receptors.
22. A navigation system to track positions of surgical components
during surgery of a patient, comprising: a power source to emit a
tracking signal during surgery of a patient; a first sensor
configured to be mounted to a region of the patient to generate a
first response signal to the emitted tracking signal; a second
sensor configured to be mounted to a surgical component to generate
a second response signal to the emitted tracking signal; a control
unit to track a position of the surgical component relative to the
region as the surgical instrument and region move with respect to a
fixed region of the patient and a display monitor configured to
display a real time position of the region and the fixed region,
wherein the tracked position is based on a triangulation
calculation relative to the first and second response signals
independent of a shape dimension of the first and second
sensors.
23. The navigation system of claim 22, wherein the first sensor is
fabricated from a digital scanner to read data pertaining to a
region of interest of the patient to adjust existing CT scan data
of the patient.
24. The navigation system of claim 22, further comprising a set of
navigation goggles configured to be worn by a surgeon to interface
with the navigation system via a wired or wireless connection to
display in real-time the position of the surgical component and/or
region during surgery.
25. A navigation system to track positions of surgical components,
comprising: a power source to emit a tracking signal during an
operation of a patient; a first component configured to be mounted
to a region of interest of the patient, the first component
including a first sensor to respond to the emitted tracking signal
to provide location information of the first component; a second
component including a second sensor to respond to the emitted
tracking signal to provide location information of the second
component; and a control unit to track the locations of the first
and second components relative to a fixed region of the patient as
the first or second components move with respect to the fixed
region based on the responses of the first and second sensors,
independent of a shape dimension of the first or second sensors,
wherein the first component comprises a dressing to cover a wound
of a patient, the dressing including at least one detector to
measure a characteristic parameter of the wound and to transmit a
signal representative of the measured characteristic parameter to
the control unit, the control unit being configured to receive the
transmitted signal and to output a response indicative of the
measured characteristic parameter to treat the wound.
26. A wound care device to monitor and treat wounds of a patient,
comprising: a dressing to cover a wound of a patient; at least one
detector to measure a characteristic parameter of the wound, and to
transmit a signal representative of the measured characteristic
parameter; and a control unit to receive the transmitted signal and
to output a response indicative of the measured characteristic
parameter to treat the wound.
27. The wound care device of claim 26, wherein the dressing
includes at least one delivery device to deliver a treatment
element to a selected region of the wound based on a location of
the measured characteristic parameter.
28. The wound care device of claim 27, further comprising an energy
harvesting device to power the at least one detector and the at
least one delivery device.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. application Ser.
No. 13/214,783 filed on Aug. 22, 2011, which is a
continuation-in-part of U.S. application Ser. No. 12/860,635 filed
on Aug. 20, 2010, the contents of which are incorporated by
reference herein in their entirety.
BACKGROUND OF THE INVENTION
[0002] 1. Field of Invention
[0003] The present general inventive concept relates generally to
navigation of surgical components and, more particularly, to
systems and methods to assist a surgeon in navigating anatomical
regions of a patient to properly position and locate surgical
components, adjuncts, surgical guides, goggles, dressings,
instruments, and other surgical components before, during, and
after injury or surgery of a patient, and for navigation and use
around wounds and surgical sites.
[0004] 2. Description of the Related Art
[0005] The controlled positioning of surgical instruments and other
components is of significant importance in many surgical procedures
and wound care applications, and various methods and navigation
systems have been developed to navigate surgical components
relative to a patient during surgery. Intra-operative navigation
systems are comparable to global positioning satellite (GPS)
systems commonly used in automobiles and are composed of three
primary components: a localizer, which is analogous to a satellite
in space; an instrument or surgical probe adjunct, guide, goggle,
or dressing, which represents the track waves emitted by the GPS
unit in the vehicle; and CT scan and/or other data sets such as
MRI, PET/CT, or optical data sets that are analogous to a road map
of the anatomical structure of the patient. These image navigation
techniques generally allow positioning of a surgical instrument
within a margin of error of about 1 to 2 mm, or sub mm accuracy
depending on the scan.
[0006] Computer assisted image guidance techniques typically
involve acquiring preoperative images of the relevant anatomical
structures and generating a data base which represents a three
dimensional model of the anatomical structures. The position of the
instrument relative to the patient is determined by the computer
using at least three fixed reference elements that span the
coordinate system of the object in question. The process of
correlating the anatomic references to the digitalized data set
constitutes the registration process. The relevant surgical
instruments or other components and surgical sites typically have a
known and fixed geometry which is also defined preoperatively.
During the surgical procedure, the position of the component being
used is registered with the anatomical coordinate system and a
graphical display showing the relative positions of the tool and
anatomical structure may be computed and displayed to assist the
surgeon in properly positioning and manipulating the surgical
component with respect to the relevant anatomical structure.
[0007] One of the disadvantages of known systems is the need to
maintain proper positioning of surgical instruments relative to
movable anatomic references when those references are moved during
surgery, and to enable surgeons to properly position surgical
instruments in real time when anatomical reference points are moved
during surgery.
BRIEF SUMMARY OF THE INVENTION
[0008] The present general inventive concept provides systems and
methods to digitally register and track movable regions of a
patient, enabling a surgeon to accurately position and navigate
surgical components such as, but not limited to, surgical
instruments, adjuncts, guides, goggles, wound dressings, and other
surgical components with respect to reference points even when the
reference points are moved before, during, or after treatment or
surgery.
[0009] Additional features and embodiments of the present general
inventive concept will be set forth in part in the description
which follows and, in part, will be obvious from the description,
or may be learned by practice of the general inventive concept.
[0010] Example embodiments of the present general inventive concept
can be achieved by providing a navigation system to track positions
of surgical components before, during, or after an operation of a
patient, including a power source to emit a detectable signal
during operation of a patient, a first sensor mounted to a movable
region of the patient to respond to the emitted signal, and a
control unit to track a position of the movable region relative to
a fixed region of the patient as the movable region moves with
respect to the fixed region, based on the response of the first
sensor.
[0011] The navigation system can include a second sensor mounted to
a surgical component to respond to the emitted signal such that the
control unit tracks a position of the surgical component relative
to the movable region as the surgical component and movable region
move with respect to the fixed region, based on the responses of
the first and second sensors.
[0012] Example embodiments of the present general inventive concept
can also be achieved by providing a navigation system to track
positions of surgical components before, during, or after an
operation of a patient, including a detection unit to detect an LED
or electromagnetic signal, a first sensor mounted to a movable
region of the patient to emit a first LED or electromagnetic signal
to be detected by the detection unit, and a control unit to track a
position of the movable region relative to a fixed region of the
patient as the movable region moves with respect to the fixed
region, based on the detected first LED or electromagnetic
signal.
[0013] Example embodiments of the present general inventive concept
can also be achieved by providing a method of tracking positions of
surgical components before, during, or after an operation of a
patient, including emitting tracking signals to a targeted region
of a surgical site, coupling a first sensor to a movable region of
the patient such that the first sensor responds to the emitted
tracking signals, and tracking a position of the movable region
relative to a fixed region of the patient as the movable region
moves with respect to the fixed region, based on the response of
the first sensor.
[0014] Example embodiments of the present general inventive concept
can also be achieved by providing a navigation system to track
positions of surgical components during surgery of a patient,
including a power source to emit a tracking signal during surgery
of a patient, a first sensor mounted to a region of the patient to
generate a first response signal to the emitted tracking signal, a
second sensor mounted to a surgical component to generate a second
response signal to the emitted tracking signal, and a control unit
to track a position of the surgical component relative to the
region as the surgical instrument and region move with respect to a
fixed region of the patient, wherein the tracked position is based
on a triangulation calculation relative to the first and second
response signals independent of a shape dimension of the first and
second sensors.
[0015] The first sensor can be a digital scanner to read data
pertaining to a region of interest of the patient to adjust
existing CT scan data of the patient.
[0016] The navigation system can include a set of navigation
goggles worn by a surgeon to display in real-time the position of
the surgical component and/or region during surgery.
[0017] Example embodiments of the present general inventive concept
can also be achieved by providing a navigation system to track
positions of surgical components, including a power source to emit
a tracking signal during an operation of a patient, a first
component mounted to a region of interest of the patient, the first
component including a first sensor to respond to the emitted
tracking signal to provide location information of the first
component, a second component including a second sensor to respond
to the emitted tracking signal to provide location information of
the second component, and a control unit to track the locations of
the first and second components relative to a fixed region of the
patient as the first or second components move with respect to the
fixed region based on the responses of the first and second
sensors, independent of a shape dimension of the first or second
sensors.
[0018] Example embodiments of the present general inventive concept
can also be achieved by providing a wound care device to monitor
and treat wounds of a patient, including a dressing to cover a
wound of a patient, at least one detector to measure a
characteristic parameter of the wound, and to transmit a signal
representative of the measured characteristic parameter, and a
control unit to receive the transmitted signal and to output a
response indicative of the measured characteristic parameter to
treat the wound.
[0019] The monitoring device can include a sensor device to
facilitate calculation of location information of the monitoring
device. The monitoring device can be part of the navigation system
or can be used as a separate component to monitor and treat
wounds.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
[0020] The above-mentioned features of the present general
inventive concept will become more clearly understood from the
following detailed description read together with the drawings in
which:
[0021] FIG. 1 is a perspective view of a system environment in
which the features of the present general inventive concept may be
implemented;
[0022] FIG. 2A is a perspective view of an exemplary guide member
including optical sensor members in accordance with an example
embodiment of the present general inventive concept;
[0023] FIG. 2B is a perspective view of an exemplary guide member
including electromagnetic sensor members in accordance with another
example embodiment of the present general inventive concept;
[0024] FIG. 3 is a perspective view of a surgical instrument
including optical or electromagnetic sensor members in accordance
with an example embodiment of the present general inventive
concept;
[0025] FIG. 4 is a diagram illustrating a power source emitter and
detection unit communicating with sensor units configured in
accordance with an example embodiment of the present general
inventive concept;
[0026] FIG. 5 is a perspective view of a system environment
including a scanning wand and navigation goggles for use in
accordance with example embodiments of the present general
inventive concept;
[0027] FIG. 6 illustrates an exemplary set of navigation goggles
configured in accordance with an example embodiment of the present
general inventive concept;
[0028] FIG. 7 is a perspective view of a system environment
including dressings configured for use in accordance with example
embodiments of the present general inventive concept;
[0029] FIG. 8 illustrates an exemplary wound dressing configured in
accordance with an example embodiment of the present general
inventive concept; and
[0030] FIG. 9 illustrates an exemplary wound dressing including a
plurality of sensors to aid in navigation and detection of a
variety of parameters to assist in treatment of the wound,
according to an example embodiment of the present general inventive
concept.
DETAILED DESCRIPTION OF THE INVENTION
[0031] Reference will now be made to various embodiments of the
present general inventive concept, examples of which are
illustrated in the accompanying drawings, wherein like reference
numerals refer to like elements throughout. The following
description of the various embodiments is merely exemplary in
nature and is in no way intended to limit the present general
inventive concept, its application, or uses. The example
embodiments are merely described below in order to explain the
present general inventive concept by referring to the figures.
[0032] The present general inventive concept provides systems and
methods of navigating surgical components with respect to
anatomical regions of a patient, and assisting a surgeon in
locating anatomical regions of a patient to properly position and
locate surgical components such as, but not limited to, surgical
adjuncts, surgical guides, goggles, dressings, and other surgical
instruments and treatment components before, during, and after
injury or surgery of a patient, and for navigation and use around
surgical sites. As used herein, the term surgical components is
intended to encompass, but is not limited to, all surgical devices,
instruments, and components for use in navigation around wound
sites, whether used before, during, or after surgery or treatment
thereof.
[0033] In some embodiments, the navigation system enables a surgeon
to track a location of a movable reference point relative to a
fixed reference point as the movable reference point moves in space
with respect to the fixed reference point during a surgical
procedure.
[0034] The techniques of the present general inventive concept can
be implemented in conjunction with robots to provide reference in
space for surgical components and wound locations to aid in
precision surgery.
[0035] In some embodiments, the navigation system utilizes known
GPS triangulation methods to determine the location of sensors on
both the patient's body and the surgical component, independent of
the shape or size of the sensors.
[0036] FIG. 1 is a perspective view illustrating an exemplary
system environment in which the features of the present general
inventive concept may be implemented. The system environment of
FIG. 1 includes a navigation system generally indicated by
reference number 10 to navigate surgical instruments with respect
to targeted anatomical structures of a patient 1. The simplified
diagram of FIG. 1 illustrates a drilling instrument 13 for use in
an oral surgery procedure and a patient 1. In FIG. 1, the patient
is prepared for oral surgery toward a targeted region of the
patient's mandible 19. As illustrated in FIG. 1, the mandible 19 is
a movable anatomical structure as generally indicated by the
phantom lines and direction arrow in FIG. 1. Since the mandible 19
is movable with respect to a fixed reference point such as the
patient's skull or maxilla 15, the mandible 19 is referred to as a
movable region or movable reference point. However, the present
general inventive concept is not limited to any particular
anatomical structure or type of movable reference point, nor is it
limited to oral surgery procedures. Those skilled in the art will
appreciate that many other anatomical structures could be used as a
movable reference depending on the location and scope of the
targeted surgical region, such as head, legs, arms, feet, hands,
etc. Accordingly, the present general inventive concepts can be
used to navigate any type of surgical or medical/dental instrument
or component, for example, endoscopic systems, suction devices,
screw devices, guides, wires, syringes, needles, drug delivery
systems, biopsy systems, arthroscopic systems, wound dressings,
etc. Furthermore, embodiments of the present general inventive
concept may be used to navigate and/or treat any targeted region or
anatomical structure of the patient's body during any medical or
dental procedure, internally or externally, in addition to surgery
on the mandible region as illustrated in FIG. 1. It is noted that
the simplified diagram does not illustrate various connections, for
example, power, ground, and interface connections to the various
components; however, those skilled in the art will recognize the
need for such connections and understand how to implement such
connections, based on the components ultimately selected for
use.
[0037] Referring to FIG. 1, the navigation system 10 includes a
surgical aid device such as movable guide member 11, a power source
or emitting device 17, and a control unit 16 having a display
monitor 8. In some embodiments, the movable guide member 11 can be
a customized guide fitted to individual cusps of the teeth
including sensors to provide triangulation information for use in
navigating craniofacial or dental operations. The system may also
include a surgical component such as 13 to be tracked with respect
to the location of a surgical site of interest as represented by
movable guide member 11. The movable guide member 11 and surgical
instrument 13 can include sensor elements 12 and 14, respectively.
The emitting device 17 emits a propagating signal to communicate
with the sensors 12 and 14 to track the location of the surgical
instrument 13 relative to the movable guide member 11. Thus, using
a customized guide member 11, for example, it is possible to use
the patient's teeth or dental alveolus as unique registration
points (e.g., fixed points) to register the mouthpiece/guide 11
during oral surgery. It is also possible to form other shapes and
sizes of guide members, such as but not limited to guidance screws,
implants, bandages, dressings, drapes, and the like, and attach
them to other body parts to provide registration points for other
parts of the body during other types of surgeries.
[0038] The emitting device 17 may also include a detection unit 17c
to detect responses of the sensors 12, 14. Once the responses are
detected by the detection unit 17c, the control unit 16 utilizes a
multi-triangulation concept to calculate the position of the
sensors 12 and 14 based on the detected responses to tracking
signals emitted by the emitting device 17. The manner in which the
emitting device 17 and/or detection unit 17c communicates with the
sensors 12 and 14 to track the position thereof is well known in
the art and is therefore only described generally. In some
embodiments, it is possible that the functions of the emitter 17
and sensors 12 and 14 may be reversed and/or combined using sound
engineering judgment to achieve the same or similar results. For
example, it is possible for the sensors 12 and 14 to function as
emitters rather than sensors, and it is possible for the emitter 17
to function as a sensor rather than an emitter. In any case, it is
possible to utilize known triangulation methods to calculate and
track the positions of the sensors 12 and 14 relative to the
targeted surgical field using the configurations and techniques of
the present general inventive concept. In other embodiments, the
navigation system 10 may include an optional imaging device (not
illustrated), such as an MRI unit, CT scanner, or other type of
imaging device, optical device, or electromagnetic device, to
acquire pre-, intra-, or post-operative or real-time images of the
patient 1, in order to determine location coordinates with respect
to a fixed portion of the patient's body, for example, to obtain
digital coordinates of the various components relative to the
patient's maxilla or skull region 15.
[0039] Referring to FIG. 1, the emitting device 17 can generate a
tracking signal which can be received by sensors 12 and/or 14. The
tracking signal may take the form of an infrared light signal (IR),
electromagnetic (EM) signal, Bluetooth signal, Wi-Fi signal, or
other known or later developed wired or wireless signal. In the
example embodiment of FIG. 1, it is presumed for convenience of
description that the propagating signal is an LED light signal
transmitted from the emitting device 17 to the sensors 12 and 14.
In this embodiment, in order to track the location of the guide
member 11 and/or surgical component 13, the sensors 12 and 14 can
function as reflecting markers to transmit light signals received
from the emitting device 17 to a detection unit 17c, such as a CCD
camera device. Using the reflected LED signals, the detection unit
17c can determine the location of the sensors 12 and 14 based on
characteristics such as intensity, refraction angle, etc. of the
reflected LED signals, and can inform the control unit 16 of the
location of the sensors in real time based on the characteristics
of the reflected LED signals. In other embodiments, it is possible
that the sensors 12 and 14 can include one or more emitting devices
to emit LED signals directly from the sensors to the detection unit
17c. In this case, the position of the sensors 12, 14 can be
directly tracked by the detection unit 17c by detecting and
characterizing the LED signals emitted from the sensors directly,
in which case the emitting device 17 may not be required. Those
skilled in the art will appreciate that many other configurations
and combinations of elements in addition to those illustrated in
FIG. 1 could be used without departing from the broader scope of
the present general inventive concept.
[0040] During typical dental or medical procedures, the patient's
MRI or CT scans may be fed into the control unit 16 to compare the
scanned MRI or CT images to anatomical landmarks or reference
points fixed on the patient's head and face to calibrate a location
of the fixed reference point relative to a target point for the
procedure or surgery. In the embodiment of FIG. 1, the patient's
maxilla 15 can be used as a fixed reference point. To register the
fixed reference point, it is possible to calculate a position of
the fixed reference point with respect to the targeted surgical
field (e.g., mandible region) based on coordinates of the patient
generated by the MRI or CT scans. It is also possible to directly
register a location of the fixed reference point by mounting a
fixed device, such as a screw device (not illustrated), adapted to
include an integrated sensor device to correspond and define a
fixed reference point of the patient's skull. The fixed sensor
device can then be used to communicate with the emitting device 17
and/or detection unit 17c to calibrate the location of the fixed
reference point relative to one or more other sensors or reference
points of the patient. In this way, the fixed reference point 15
may be used as a positional reference frame to determine the
relative position of the surgical component 13 with respect to the
target point of the surgery, and to calibrate a position of the
movable guide element 11.
[0041] To carry out a particular surgical process, it may be
important to move the patient's mandible 19 during the process as
indicated by the phantom lines and direction arrow illustrating
movement of the mandible 19 as depicted in FIG. 1. Here, the
surgeon can attach a surgical aid component such as a movable guide
member 11 adapted with a sensor array 12 to a portion of the
patient's mandible to track movements of the patient's mandible 19,
as illustrated in FIG. 1.
[0042] Referring to FIGS. 1 and 2A, the exemplary movable guide
member 11 can be configured in the shape of a semicircular
mouthpiece to fit precisely on the patient's mandible. The movable
guide member 11 typically includes a series of holes 122 which the
surgeon uses to locate and orient dental implants during oral
surgery. The movable guide member 11 can be attached to the
patient's mandible by way of fasteners 120 and 121. The fasteners
120, 121 may take the form of fixation screws, bolts, or pins, but
the present general inventive concept is not limited thereto. Many
other types of fastening devices or glues may be used to attach a
guide member 11 and sensor 12 to these and/or other movable regions
of the patient without departing from the broader scope of the
present general inventive concept. For example, fixation methods
such as intermaxillary fixation (IMF) methods, IMF screws, and the
like, can be adapted to include a sensor device in accordance with
the present general inventive concept to track movements of a
movable region of the patient during a medical or dental procedure.
It is possible to mount a sensor 12 to a guide member such as a
bite plate device and/or customized guide based on the individual
unique cusps of teeth, secured to a lower jaw of the patient by
screws. This facilitates using the teeth and/or dental alveolus as
unique registration points (fixed points) to register the location
of the mouthpiece/guide during oral surgery. It is possible to use
other body parts and attachment devices, chosen with sound
engineering judgment, to assist with other types of surgeries or
treatment operations. Moreover, although the example embodiment of
FIG. 2A illustrates a mouthpiece-shaped guide member 11 to
incorporate the sensor 12, the present general inventive concept is
not limited to such configuration, and various other types of
sensor arrangements may be used in connection with a variety of
other types of fixation devices, methods, or splints to track and
maintain a movable reference point during surgery. For example, it
is possible to incorporate a sensor device into a locating pin or
other fastening device, such as a surgical screw, and to attach the
pin or screw to the targeted movable region of the patient to track
the movable reference during a particular medical or dental (i.e.,
surgical) procedure.
[0043] Referring to FIGS. 2A and 2B, the guide members 11, 11' can
be fabricated from a digital scan for use as fixation assist. For
example, the guide members 11, 11' can be fabricated from a digital
scanner, CT, CBCT, MRI, or similar devices to produce
individualized tooth-borne (via tooth cusps) template. Other types
of guide members can be used to register other anatomical regions
of the body, such as a bone borne template for edentulous mandible,
maxilla, spine, hip, etc., or soft tissue templates for radial
forearm, nose, ear, or other regions. For example, it is possible
to outfit titanium plates/resorbable plates/titanium screws with
already pre-slotted intaglio surface for a navigation plate, screw,
etc., and to custom fit templates using plate manufacturers. Thus,
the techniques and devices of the present general inventive concept
are not limited to craniofacial use, but can be applied in
dentistry, oral surgery, orthopedics, ENT, neurosurgery, or other
surgical fields. The guide members can be sterilized prior to
introduction into the operating room, obviating the need for
re-sterilization process.
[0044] It is also possible to integrate RFID sensors, and/or other
types of sensors, such as Bluetooth enabled sensors, into a
mesh-like bite plate device, where the sensors are disposed or
integrated within the mesh construct of the device itself. The RFID
sensors can be powered by solar cells or other energy harvesting
devices, such as RF harvesting devices. The integrated device can
then be attached to a movable region of interest, such as the
patient's lower jaw, to track movements thereof during an operative
procedure. The present general inventive concept is not limited to
the exemplary configurations illustrated and described herein. To
the contrary, a variety of other configurations and combinations of
dental/medical devices can be adapted with a variety of different
sensor technologies (e.g., swarming technology) to carry out the
techniques of the present general inventive concept. For example,
it is possible to utilize various combinations of sensor
technologies, such as EM and/or optical, during a single operative
procedure, depending on the particular components and instruments
chosen and adapted for use.
[0045] Referring to the example embodiment of FIG. 2A, there is
illustrated a perspective view of a typical movable guide member 11
adapted to include an array of sensor members 12a, 12b, and 12c to
detect light emitted from the emitting device 17, in accordance
with an example embodiment of the present general inventive
concept. In this example embodiment, the sensors 12a, 12b, and 12c
can function as reflecting markers to transmit light signals
received from the emitting device 17 to a detection unit 17c. The
detection unit 17c can continuously acquire the position of the
sensors 12a, 12b, and 12c and can inform the control unit 16 of the
location of the sensors in real time. The control system 16 can
compute the position of the movable guide member 11 using a known
multi-triangulation method based on information received from the
sensors 12a, 12b, and 12c, and can display on display monitor 8 an
image displaying the position of the movable guide member 11 with
respect to various other components, structures, and reference
points of the navigation system 10.
[0046] Referring to FIGS. 1 and 2A, the sensors 12a, 12b, and 12c
can be configured to extend from an outer surface of the guide
member 11 to help maintain consistent line-of-sight between the
sensors 12a, 12b, 12c and the light emitting device 17. Although
FIGS. 1 and 2A depict an oral surgery configuration, those skilled
in the art will appreciate that the present general inventive
concept is not limited to the embodiments of FIGS. 1 and 2A, and
that many other shapes and sizes of guide members 11 and sensors
12a, 12b, 12c may be used to facilitate mounting of such devices on
other parts of the body, internally and externally, and may be used
in connection with other types of surgeries where it is useful to
maintain a movable reference to help locate surgical instruments or
components when the target anatomical structure is moved during
surgery.
[0047] In the case of dental implants, for example, it is possible
to mount a sensor array 12 to the movable guide member 11 to
facilitate tracking of the guide member 11 as the mandible is
moved, enabling the surgeon to maintain consistent and proper
positioning of the surgical component 13 with respect to the
mandible even when the mandible is moved during surgery.
[0048] In the embodiment of FIG. 1, the surgeon attaches the
movable guide member 11 and sensor 12 to the target point, such as
the patient's mandible 19 as illustrated in FIG. 1. During a
surgical procedure, the control unit 16 can track the location of
the movable guide member 11 and the surgical component 13 in real
time, enabling the surgeon to maintain proper positioning of the
surgical component 13 with respect to the target point even when
the movable guide member 11 is moved during surgery.
[0049] During a surgical procedure, the surgeon may move the
surgical component 13 with respect to the targeted surgical region
of the patient, for example the mandible 19 area as illustrated in
FIG. 1. As the surgeon is moving the surgical component 13, the
control unit 16 can track the location of the surgical component 13
via the sensors 14 mounted on the surgical component 13. The
control system 16 can interpret the response signals of the sensor
14 to compute the position of the surgical component 13 using a
known multi-triangulation method based on response signals of the
sensors 14, and can display on display monitor 8 an image
displaying the position of the surgical component 13 with respect
to the targeted region of the patient. These techniques enable a
surgeon to track the relative positions of the movable guide member
11 and surgical component 13 in the targeted surgical field, even
when the movable guide member 11 is moved during the surgical
process. Using the present general inventive concepts, it is thus
possible to utilize known GPS triangulation methods to determine
the location of sensors on both the patient's body and the surgical
component, independent of information regarding the shape or size
of the sensor to calculation the location thereof.
[0050] Referring to FIG. 1, in the case where the emitting device
17 emits infrared light signals, it is important that the sensors
12 and 14 remain in the visual field of the emitted light signals
to help produce consistent and accurate locations of the movable
guide member 11 and surgical component 13 in the control unit 16 as
the surgical component 13 and guide member 11 are moved during
surgery. However, in cases where the emitting device does not emit
light signals but instead emits EM or other types of RF or wireless
signals, it is not as important to maintain the sensors 12 and 14
in the visual line-of-sight of the emitted signals, as EM and other
types of RF signals have the ability to penetrate and communicate
with sensors that are not directly in the visual line-of-sight of
the EM or RF source.
[0051] FIG. 2B is a perspective view of guide member including
sensor members in accordance with another example embodiment of the
present general inventive concept, for example, in a case where the
emitting device 17 emits EM or other RF-based signals.
[0052] Referring to FIG. 2B, in a case where the emitting device 17
emits EM or other RF-based signals, the sensors of the movable
guide member 11' can include an array of detectors, such as radio
frequency identification (RFID) sensors 12a', 12b', and 12c', to
communicate with the EM signals emitted from the emitting device
17. Unlike the configuration of FIG. 2A, the RFID sensors 12a',
12b', and 12c' can be mounted internally with respect to the guide
member 11' as illustrated in FIG. 2B. The RFID sensors can be
mounted within the internal structure of the guide member 11' since
it is not as important to maintain a direct line-of-sight between
the sensors and the emitting device 17 due to the penetrating
characteristics of EM and other types of RF signals. In operation,
the RFID sensors 12a', 12b', and 12c' function to interact with the
electromagnetic field generated by the emitting device 17, and the
control unit 16 can recognize any disruptions in the magnetic field
caused by the RFID sensors, enabling the system's computer, which
has special tracking software, to recognize the location of the
RFID sensors and its location in the surgical field using a known
multi-triangulation concept based on the interaction of the RFID
sensors 12a', 12b', and 12c' with the electromagnetic field.
Similar to the embodiment of FIG. 2A, the control unit 16 can
compute the position of the movable guide member 11' in real time
based on this information, and can display on display monitor 8 an
image displaying the position of the movable guide member 11' with
respect to various other components, structures, and reference
points of the navigation system 10.
[0053] FIG. 3 is a perspective view of an exemplary surgical
component 13 including a sensor array 14 configured in accordance
with an example embodiment of the present general inventive
concept.
[0054] Referring to FIG. 3, the surgical component 13 includes a
sensor array 14 including sensors 14a, 14b, and 14c. These sensors
are configured to respond to propagating signals emitted from the
emitting device 17 to track the location of the surgical component
in the surgical field, in the manners discussed above. As with
sensors 12a, 12b, and 12c, sensors 14a, 14b, and 14c can be
configured to interact with LED, EM, Wireless, WiFi, Bluetooth, IR,
and/or other types and combinations of wired or wireless signals in
known ways to track the location of various components associated
with the sensors. The sensors can be powered by solar cells or
other energy harvesting devices.
[0055] To facilitate attachment of the sensor array 14 to the
surgical component, the sensor array may be mounted in the form of
a ring-like shape to fit around a shaft or neck region of the
surgical component 13, as illustrated in FIG. 3. Such a
configuration is easily adaptable to any number of different shaped
and sized surgical components. However, those skilled in the art
will appreciate that the specific means of mounting the sensors to
the various components can be chosen with sound engineering
judgment, and a variety of mounting shapes and configurations could
be used without departing from the broader scope of the present
general inventive concept. For example, the sensors 14a, 14b, and
14c could be integrally mounted and formed in the surgical
component 13 as a single body to communicate with the propagating
signal without sacrificing proper positioning of the surgical
component 13 with respect to the surgical field. Using the
responses of the sensors 14a, 14b, and 14c, the control unit 16 can
calculate the position of the surgical component 13 relative to the
movable reference region and can track and compare the relative
movements of the guide member 11 with respect to the surgical
component 13. It is possible to include a slot or other type of
holding means in one or more of the exemplary devices of the
navigation system to hold a microSD card or other memory device to
store or upload data to/from the navigation system.
[0056] Referring to FIG. 4, it is possible to configure the sensors
12 and 14 to communicate with each other, in addition to
communicating with the emitter device 17 and/or detection unit 17c,
to provide additional information about the relative positions of
the respective guide member 11 and surgical component 13. In this
regard, the sensors 12 and 14 are not required to be the same or
similar types of devices, but instead may be different, wherein the
sensors independently interact with one or more of the emitting
devices 17 and/or detection unit 17c to track location information
of the respective sensors. For example, one of the sensors 12 could
be configured to include an EM source and a light reflector sensor,
and the other sensor 14 could be configured to include an RFID
receptor to interact with the EM field generated by sensor 12. In
such a case, the emitter device 17 and detection unit 17c could be
adapted to track the location of sensor 12 by characterizing the
light reflected by sensor 12, and the control unit 16 could be
adapted track the relative distance between the sensors 12 and 14
by detecting disruptions in the EM field caused by movement of the
RFID receptor of sensor 14. A variety of other types and
combinations of sensors could also be used.
[0057] FIG. 4 is a simple diagram illustrating a light source and
light detector in communication with sensor arrays 12, 14 in
accordance with an example embodiment of the present general
inventive concept. In this embodiment, to facilitate GPS
triangulation calculations, three points of reference are used,
corresponding to three sensors on each device (12a, 12b, 12c and
14a, 14b, 14c). Typically, the sensors 12a, 12b, 12c and 14a, 14b,
14c can communicate with the power source 17 and/or detection unit
17c to provide information regarding the location of the respective
devices, as indicated by the dotted lines extending between the
sensors and the power source 17 and detection unit 17c. It is also
possible that the sensors 12a, 12b, 12c can communicate directly
with the other sensors 14a, 14b, 14c to provide information about
the relative positions of the devices, as indicated by the dotted
lines extending between the sensor arrays 12 and 14. For example,
the sensors 12a, 12b, and 12c could be configured to include an EM
source to emit a tracking signal to the sensors 14a, 14b, and 14c,
and the sensors 14a, 14b, and 14c could be configured to include an
RFID receptor configured to interact with the EM field generated by
the EM source based on the position of the RFID receptors.
Accordingly, disruptions or changes to the EM field caused by
movement of the RFID receptors can be detected by the detection
unit 17c and fed to the control unit 16 (FIG. 1) to calculate and
display location information about the relative positions of the
sensors. Moreover, the use of RFID, Bluetooth, IR, EM, LED, or
other types of sensors can be interchanged, mixed, or combined for
use with different devices and applications, without departing from
the broader principles and scope of the present general inventive
concept. For example, swarming technology can be used to implement
a variety of different sensor technologies (e.g., EM and/or
optical) on a variety of different surgical components and regions
of interest to track movements thereof during single or multiple
operative procedures of a patient.
[0058] It is also possible to utilize thermography in conjunction
with the navigation techniques of the present general inventive
concept to identify other structures in and around the surgical
region of interest such as nerves, arteries, veins, and the like.
For example, after the RFID sensors track and identify the location
of teeth or other structures in a surgical region of interest, such
as the mandible, it is possible to identify the location of nerves,
arteries, or veins in the mandible using thermography, thus
providing additional navigational information to supplement the
information provided from the multi-triangulation techniques of the
present general inventive concept. In other words, it is possible
to incorporate thermal imaging cameras into, or in combination
with, the exemplary sensors of the present general inventive
concept in order to detect variations in the infrared radiation of
various body parts and to display thermographic images thereof. In
this way, if the surgeon knows that the artery, vein, or nerve runs
along with the vein, the use of thermography can be used to
identify where the canal is, thus providing additional location
information in addition to the information provided by the RFID or
other sensors. Accordingly, not only can the multi-triangulation
concepts of the present general inventive concept be used to
indicate where a boney indentation is in the bone, but thermography
concepts can also be incorporated into the navigation system of the
present general inventive concept to help identify and locate the
nerve, artery, and/or vein during surgery.
[0059] FIG. 5 is a perspective view of a system environment
including a pair of navigation goggles 50 and a digital scanning
wand 51 for use in accordance with example embodiments of the
present general inventive concept. The scanning wand 51 can be used
to superimpose measurements onto the patient scan data, such as CT
scan data. The measurements from the scanning wand 51 can be used
to supplement or replace patient scan data to enable the surgeon to
determine location information of surgical sites of interest that
may be modified or moved relative to the original scan data. For
example, the navigation goggles 50 can interface with the
navigation system, via a wired or wireless connection, to enable
the surgeon to visualize location information of surgical sites of
interest in real time during surgery.
[0060] FIG. 6 illustrates an exemplary set of navigation goggles 50
configured in accordance with an example embodiment of the present
general inventive concept. Referring to FIG. 6, the goggles 50
facilitate 3D viewing of the surgical field with an overlay of the
scan. The goggles can include sensors to sense the blinking of the
eyelids and eye movements to function in part with verbal commands
and buttons on the instruments to control various aspects of the
surgical field including the 3D viewing experience of the goggles.
The goggles 50 can include various overlays to display navigation
data, such as location of surgical components and/or surgical sites
in 3-dimensional space, angular information, target points, and the
like. Thus, the location information provided by the navigation
system can processed and fed to the navigation goggles 50 in
various forms to assist the surgeon in visualizing and locating
surgical components and surgical sites as the operation is being
performed. For example, it is possible for the surgeon to visualize
tumors or other surgical sites, to see the depths of invasion, and
to superimpose data from the digital wand and/or CT scan while
cutting or performing other operations on the patient.
[0061] FIG. 7 is a perspective view of a system environment
including exemplary dressings 70 configured for use in accordance
with example embodiments of the present general inventive concept.
Similar to the surgical components 13 and guide members 11, the
dressings 70 can include suitable sensors, such as RFID sensors, to
communicate location information concerning the placement of the
dressings 70. The dressings 70 can be placed to reference various
aspects of surgical and non-surgical wound dimensions, wherein the
wounds orientation and sensors are able to detect the condition of
the wound in conjunction with navigation. The dressings 70 can
include a solar cell or other energy harvesting device to power the
sensors, but the present general inventive concept is not limited
to any particular type of sensor or power source. Thus, by
strategically placing one or more dressings 70 at various locations
of interest on or around the patient, location information can be
communicated from the dressings 70 to the navigation system using
GPS triangulation techniques relative to the sensors of each
dressing, thus providing location information of each dressing
relative to other surgical components or surgical sites of
interest. The location information can then be processed by the
control unit and displayed in various formats to the surgeon via
display monitor 8 (FIG. 1) and/or navigation goggles 50 (FIG.
6).
[0062] FIG. 8 illustrates an exemplary wound dressing 80 including
a tripartite sensor arrangement (similar as described above) to
facilitate GPS triangulation calculations and location data of the
dressing 80 relative to other surgical components, surgical sites,
and/or other anatomical regions of interest.
[0063] FIG. 9 illustrates an exemplary wound dressing 90 including
a plurality of treatment devices to aid in the navigation,
detection, and/or treatment of a variety of parameters to assist in
operations of a wound or surgical site, according to an example
embodiment of the present general inventive concept. Exemplary
treatment devices are illustrated in a circuit fashion in FIG. 9,
with a key indicating some exemplary parameters for use of the
treatment devices, although the present general inventive concept
is not limited to the illustrated parameters, and a variety of
other parameters could be used without departing from the scope and
spirit of the present general inventive concept.
[0064] The treatment devices of FIG. 9 can be implemented in
combination with RFID or other navigation sensors to provide
navigation and treatment information respecting a particular wound.
For example, as illustrated in FIG. 9, it is possible to provide
one or more gas sensors to detect gases such as NO, O.sub.2,
CO.sub.2, or other gases in or around a particular wound area. This
information can be communicated to the navigation system to provide
a monitoring component of a particular wound area. Other parameters
can also be monitored, for example, temperature, pH, bacteria
level, pressure, and the like. It is also possible to provide one
or more ultraviolet (UV) devices to detect and/or deliver UV energy
to targeted areas of the wound, based on results of the other
parameter measurements and/or detections. Treatment devices may
also be targeted to various regions of the dressing using
navigation information provided by RFID or other GPS devices of the
wound dressing.
[0065] While the present general inventive concept has been
illustrated by description of example embodiments and while the
illustrative embodiments have been described by referring to the
drawings, it is not the intention of the applicant to restrict or
in any way limit the scope of the appended claims to the
illustrative examples. Additional advantages and modifications of
the present general inventive concept will readily appear to those
skilled in the art. The present general inventive concept in its
broader aspects is therefore not limited to the specific details,
representative apparatus and methods, and illustrative examples
illustrated and described. Accordingly, departures may be made from
such details without departing from the spirit or scope of
applicant's general inventive concept.
* * * * *